
#include "member_BSixdofConstraint.h"

using namespace BWE;

member_BSixdofConstraint::member_BSixdofConstraint(BSixdofConstraint* constraint)
{
	boss = constraint;

	linearUpperLimit.set(0, 0, 0);
	linearLowerLimit.set(0, 0, 0);;
	angularUpperLimit.set(-PI, -PI, -PI);;
	angularLowerLimit.set(PI, PI, PI);;

	softnessDirLin = BReal(1.0);
	restitutionDirLin = BReal(0.7);
	dampingDirLin = BReal(0.);
	cfmDirLin = BReal(0.0);
	softnessDirAng = BReal(1.0);
	restitutionDirAng = BReal(0.7);
	dampingDirAng = BReal(0.);
	cfmDirAng = BReal(0.0);
	softnessOrthoLin = BReal(1.0);
	restitutionOrthoLin = BReal(0.7);
	dampingOrthoLin = BReal(1.0);
	cfmOrthoLin = BReal(0.0);
	softnessOrthoAng = BReal(1.0);
	restitutionOrthoAng = BReal(0.7);
	dampingOrthoAng = BReal(1.0);
	cfmOrthoAng = BReal(0.0);
	softnessLimLin = BReal(1.0);
	restitutionLimLin = BReal(0.7);
	dampingLimLin = BReal(1.0);
	cfmLimLin = BReal(0.0);
	softnessLimAng = BReal(1.0);
	restitutionLimAng = BReal(0.7);
	dampingLimAng = BReal(1.0);
	cfmLimAng = BReal(0.0);

	poweredLinMotor = false;
	targetLinMotorVelocity = BReal(0.);
	maxLinMotorForce = BReal(0.);
	accumulatedLinMotorImpulse = BReal(0.0);

	poweredAngMotor = false;
	targetAngMotorVelocity = BReal(0.);
	maxAngMotorForce = BReal(0.);
	accumulatedAngMotorImpulse = BReal(0.0);

}
member_BSixdofConstraint::~member_BSixdofConstraint()
{

}

